Elastic self-locking full complement roller bearing and its robot reducer

Abstract

The present invention relates to an elastic self-locking full roller bearing and a robot reducer thereof, wherein two baffles are used to axially fix the rollers to reduce the axial force during the operation of the bearing; an elastic main beam is connected between the two baffles, and a first elastomer and a second elastomer are fixedly installed at both ends of the elastic main beam, and rollers are fully loaded between the first elastomer and the second elastomer, and the circumferential gap of the rollers is adjusted and limited by the elastic main beam so that two adjacent rollers are arranged in contact, which can prevent the gap between the two rollers from being too large and causing the rollers to be skewed, and the bearing has strong stability; the rollers fully loaded between the first elastomer and the second elastomer are standard rollers, and the inner ring and outer ring of the bearing are also standard parts. The size of the elastic main beam and the circumferential gap of the rollers can be adjusted, and only the retaining frame needs to be processed separately, and there is no need to process the inner ring, outer ring and rollers separately. The processing process is simple and the processing cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of self-locking full complement roller bearings, in particular to an elastic self-locking full complement roller bearing and a robot reducer thereof. Background Art

[0002] The bearings composed of radial roller and cage assemblies used in robot reducers have a large market in some bearing application areas due to their high rotational precision and high load capacity. However, due to space constraints within the bearings, their structures typically include an "M"-shaped cage and roller assembly structure, a "door"-shaped drop-out cage and roller assembly structure, and a full-fill roller structure with inner and outer plastic sleeves without a cage. Given installation space constraints, existing full-fill roller bearings generally do not have a cage, and rollers are directly inserted between two components during use. However, full-fill roller structures without cages use inner and outer plastic sleeves to prevent needle drop before assembly and during transportation. Furthermore, because the rollers are not guided by a cage during use, they are subject to large axial forces during rotation, which significantly affects the life and speed of the bearings and limits their use.

[0003] To address the aforementioned issues, Chinese patent application CN201820578990.0 discloses an "externally mounted self-retaining full complement roller cage assembly and its reducer." The full complement roller bearing comprises a cage and a plurality of rollers. The cage includes two annular baffles and an outer crossbeam and an inner crossbeam connected between the two baffles. An outer locking notch for retaining two rollers is formed between two adjacent outer crossbeams, while an inner locking notch for retaining a single roller is formed between two adjacent inner crossbeams. Each outer locking notch opposes its two adjacent inner locking notches in the radial direction of the cage. The externally mounted self-retaining full complement roller cage assembly of the present invention has a high load-bearing capacity, facilitates assembly of the rollers on the cage, and prevents the rollers from falling from the cage. This solves the problems of roller skew and needle drop in existing full complement roller bearings. Furthermore, the cage's guiding function significantly reduces the axial force of the full complement roller bearing, thereby extending the service life and range of application of the full complement roller bearing.

[0004] However, when machining this type of bearing, the diameter of the needle roller needs to be adjusted to match the outer and inner beams in the cage. The sizes of the rollers, inner rings, and outer rings vary and are not standard parts. They need to be machined separately, which results in high machining costs. If standard rollers are used for assembly, the gap between adjacent rollers will be too large, reducing the performance of the bearing. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: in order to overcome the problem that in the prior art, the sizes of the rollers, inner rings and outer rings of the bearings are scattered and non-standard parts, and they need to be processed separately, which has a high processing cost; if standard rollers are used for assembly, the gap between two adjacent rollers is too large, which reduces the performance of the bearing. An elastic self-locking full roller bearing and its robot reducer are provided.

[0006] The technical solution adopted by the present invention to solve its technical problems is: an elastic self-locking full roller bearing, including a retaining frame, the retaining frame includes two annular baffles, and also includes an elastic main beam, the elastic main beam includes a beam body, the beam body is connected between the two baffles, and the two ends of the beam body are respectively fixed with a first elastomer and a second elastomer, and the first elastomer and the second elastomer are fully loaded with rollers. The elastic main beam is used to adjust the circumferential gap between the rollers so that two adjacent rollers are set in contact.

[0007] The elastic self-locking full roller bearing of the present invention utilizes two baffles to axially fix the rollers, thereby reducing the axial force during the operation of the bearing; an elastic main beam is connected between the two baffles, and a first elastic body and a second elastic body are fixedly installed at both ends of the elastic main beam, and rollers are fully loaded between the first elastic body and the second elastic body, and the circumferential gap of the rollers is adjusted and limited by the elastic main beam, so that two adjacent rollers are contacted and set, which can prevent the gap between the two rollers from being too large, resulting in the rollers being skewed, and the bearing has strong stability; the rollers fully loaded between the first elastomer and the second elastomer are standard rollers, and the inner ring and outer ring of the bearing are also standard parts. The size of the elastic main beam can be adjusted to adapt to the circumferential gap of the rollers. Only the retaining frame needs to be processed separately, and the inner ring, outer ring and rollers do not need to be processed separately. The processing process is simple and the processing cost is low; the first elastomer and the second elastomer both have elastic margins, and the circumferential gap of the rollers has an adjustable margin, which expands the scope of application of the present invention, facilitates the installation of the rollers, and saves the overall assembly time of the present invention.

[0008] Furthermore, the first elastomer and the second elastomer both include a connecting block and an elastic plate, the connecting block connects the beam body and the elastic plate, both ends of the elastic plate extend out of the connecting block, and both ends of the elastic plate are fixedly installed with guide blocks, and the guide blocks are provided with an inwardly concave arc guide surface, the arc guide surface on the guide block in the first elastomer is the first guide surface, and the arc guide surface on the guide block in the second elastomer is the second guide surface, both ends of the elastic plate can be moved toward the beam body, and the height of the connecting block is the elastic margin of the elastic plate.

[0009] Furthermore, the elastic main beam has a single roller, and several rollers are evenly distributed on the circumference of the baffle between the first guide surface and the second guide surface.

[0010] In order to ensure contact between two adjacent rollers, the elastic main beams have at least two, and at least two of the elastic main beams are evenly distributed along the circumferential direction of the baffle. Several of the rollers are divided into at least two groups, and each group of rollers is evenly distributed between the first guide surface and the second guide surface of two adjacent elastic main beams.

[0011] In order to achieve full loading of rollers between the first guide surface and the second guide surface, the present invention also includes an outer beam and an inner beam, and the outer beam and the inner beam are both connected between the two baffles, the outer beam has a plurality of baffles that are evenly distributed on the circumference of the baffle between the first guide surface and the second guide surface, and an outer locking mouth for limiting the roller is formed between two adjacent outer beams; the inner beam has a plurality of baffles that are evenly distributed on the circumference of the baffle between the first guide surface and the second guide surface, the inner beam is located on the inner side of the outer beam, and an inner locking mouth for limiting the roller is formed between two adjacent inner beams; a first limiting pocket for accommodating rollers is formed between the first guide surface and the adjacent outer beam or inner beam, and a second limiting pocket for accommodating rollers is formed between the second guide surface and the adjacent outer beam or inner beam.

[0012] To ensure full loading of the rollers between the first and second guide surfaces, the number of inner locking openings on the retainer matches the number of rollers, with a one-to-one correspondence. The number of outer locking openings on the retainer is half the number of inner locking openings. The outer locking openings are used to position two rollers, while the inner locking openings, first and second limiting pockets are all used to position a single roller. Two baffles are used to axially secure the rollers, reducing axial forces during bearing operation. The outer locking openings retain the rollers on the outside to prevent them from falling out of the pockets, while the inner locking openings retain the rollers on the inside to prevent them from falling out of the pockets. The outer locking openings can simultaneously retain both rollers, meaning that both rollers share a single outer locking opening, facilitating the installation of the rollers into the pockets.

[0013] To ensure full loading of the rollers between the first and second guide surfaces, the number of outer locking openings on the retainer matches the number of rollers, with a one-to-one correspondence. The number of inner locking openings on the retainer is half the number of outer locking openings. The inner locking openings are used to position two rollers, while the outer locking openings, first and second limiting pockets are all used to position a single roller. Two baffles are used to axially secure the rollers, reducing axial forces during bearing operation. The outer locking openings retain the rollers on the outside, preventing them from falling out of the pockets, while the inner locking openings retain the rollers on the inside, preventing them from falling out of the pockets. The inner locking opening can simultaneously retain both rollers, meaning that both rollers share a single inner locking opening, facilitating the installation of the rollers into the pockets.

[0014] To achieve full roller loading between the first and second guide surfaces, each inner locking notch is used to position at least two rollers, and at least one of all inner locking notches has at least three rollers. Each inner locking notch with at least three rollers has an inner flange positioned within it for retaining its inner rollers, the flange being located on the baffle. The outer sides of the rollers are retained by a corresponding single outer locking notch to prevent them from falling out of the pockets. When an inner locking notch simultaneously retains two rollers, the inner sides of the rollers at that location are retained by the inner locking notch to prevent them from falling out of the pockets. When an inner locking notch simultaneously retains three or more rollers, the inner sides of the rollers at that location are retained by the inner flange, preventing the rollers from falling out of the cage, thereby achieving full roller loading between the first and second guide surfaces.

[0015] To achieve full loading of rollers between the first guide surface and the second guide surface, each external locking opening is used to position at least two rollers, and at least one of all the external locking openings has at least three rollers to be positioned. Each external locking opening with at least three rollers to be positioned has an external flange for positioning its inner rollers, and the flange is located on a baffle. The rollers are axially fixed using two baffles to reduce axial forces during bearing operation. When an external locking opening simultaneously positions two rollers, the outer sides of the rollers within the external locking opening are positioned by the external locking opening to prevent them from falling out of the pockets. When an external locking opening simultaneously positions three or more rollers, the outer sides of the rollers within the external locking opening are positioned by the external flanges, and the inner sides of the rollers are positioned by a corresponding single internal locking opening to prevent them from falling out of the pockets. This achieves full loading of rollers between the first guide surface and the second guide surface.

[0016] In order to achieve full loading of rollers between the first guide surface and the second guide surface, the present invention also includes an inner sleeve, the number of outer locking openings on the retaining frame is consistent with the number of rollers and corresponds one to one, the rollers are correspondingly installed in the outer locking openings, and the outer sides of the rollers protrude from the outer locking openings to the outer side surfaces of the outer crossbeam; both baffles are penetrated by inner ring holes, the inner sleeves are inserted into the inner ring holes of the baffles, the rollers are located between the inner sleeves and the outer crossbeam, and the inner sides of the rollers are in contact with the outer peripheral surface of the inner sleeves; the two baffles are used to axially position the rollers to reduce the axial force during bearing operation, the outer sides of the rollers are limited by the outer locking openings, and the inner sides of the rollers are fixed by the inner sleeves, thereby achieving full loading of the rollers between the first guide surface and the second guide surface.

[0017] To ensure full roller loading between the first and second guide surfaces, the present invention further includes an outer sleeve. The number of inner locking notches on the retaining frame matches and corresponds to the number of rollers. The rollers are mounted in the corresponding inner locking notches, with the inner sides of the rollers protruding from the inner locking notches onto the inner side of the inner crossbeam. The outer sleeve is fitted over the outer circumference of the baffle, with the rollers positioned between the outer sleeve and the inner crossbeam, with the outer sides of the rollers contacting the inner circumference of the outer sleeve. The two baffles provide axial positioning for the rollers, reducing axial forces during bearing operation. The outer sides of the rollers are secured by the outer sleeve, while the inner sides are secured by the inner locking notches, thereby ensuring full roller loading between the first and second guide surfaces.

[0018] The present invention also provides a robot reducer having the elastic self-locking full complement roller bearing.

[0019] The beneficial effects of the present invention are as follows: the elastic self-locking full roller bearing of the present invention utilizes two baffles to axially fix the rollers, thereby reducing the axial force during the operation of the bearing; an elastic main beam is connected between the two baffles, and a first elastomer and a second elastomer are fixedly installed at both ends of the elastic main beam, and rollers are fully loaded between the first elastomer and the second elastomer, and the circumferential gap of the rollers is adjusted and limited by the elastic main beam, so that two adjacent rollers are contacted and set, which can prevent the gap between the two rollers from being too large and causing the rollers to be skewed, and the bearing has strong stability; the rollers fully loaded between the first elastomer and the second elastomer are standard rollers, and the inner ring and outer ring of the bearing are also standard parts. The size of the elastic main beam and the circumferential gap of the rollers can be adjusted, and only the retaining frame needs to be processed separately, and the inner ring, outer ring and rollers do not need to be processed separately. The processing process is simple and the processing cost is low; the first elastomer and the second elastomer both have elastic margins, and the circumferential gap of the rollers has an adjustable margin, which expands the scope of application of the present invention, facilitates the installation of the rollers, and saves the overall assembly time of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings and examples.

[0021] Figure 1 is a three-dimensional schematic diagram of Example 1 of the present invention;

[0022] Figure 2 It is a left side view of embodiment 1 of the present invention;

[0023] Figure 3 This invention Figure 2 Cross-sectional view at AA in the middle;

[0024] Figure 4 is a three-dimensional schematic diagram of the retainer in Example 1 of the present invention;

[0025] Figure 5is a two-dimensional cross-sectional view of the retainer in Example 1 of the present invention;

[0026] Figure 6 is a two-dimensional cross-sectional view of the retainer in Example 2 of the present invention;

[0027] Figure 7 is a two-dimensional cross-sectional view of Example 3 of the present invention;

[0028] Figure 8 is a two-dimensional cross-sectional view of the retainer in Example 3 of the present invention;

[0029] Figure 9 is a two-dimensional cross-sectional view of Example 4 of the present invention;

[0030] Figure 10 is a two-dimensional cross-sectional view of the retainer in Example 4 of the present invention;

[0031] Figure 11 is a two-dimensional cross-sectional view of Example 5 of the present invention;

[0032] Figure 12 is a two-dimensional cross-sectional view of a retainer in Example 5 of the present invention;

[0033] Figure 13 is a two-dimensional cross-sectional view of Example 6 of the present invention;

[0034] Figure 14 is a two-dimensional cross-sectional view of a retainer in Example 6 of the present invention;

[0035] Figure 15 is a two-dimensional cross-sectional view of Example 7 of the present invention;

[0036] Figure 16 It is a two-dimensional cross-sectional view of the retaining frame in Example 7 of the present invention.

[0037] In the figure: 1. baffle, 2-1. first guide surface, 2-2. second guide surface, 2-3. beam body, 2-4. connecting block, 2-5. elastic plate, 2-6. guide block, 3. roller, 4. outer crossbeam, 4-1. outer locking mouth, 5. inner crossbeam, 5-1. inner locking mouth, 6. first limiting pocket, 7. second limiting pocket, 8. inner flange, 9. outer flange, 10. inner sleeve, 11. outer sleeve. DETAILED DESCRIPTION

[0038] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner, and thus only show components related to the present invention.

[0039] Example 1:

[0040] like Figure 1-Figure 5An elastic self-locking full roller bearing shown includes a retaining frame, which includes two annular baffles 1 and an elastic main beam. The elastic main beam includes a beam body 2-3, which is connected between the two baffles 1. The two ends of the beam body 2-3 are respectively fixed with a first elastomer and a second elastomer, and the first elastomer and the second elastomer are fully loaded with rollers 3. The elastic main beam is used to adjust the circumferential gap between the rollers 3 so that two adjacent rollers 3 are in contact.

[0041] The first elastomer and the second elastomer both include a connecting block 2-4 and an elastic plate 2-5. The connecting block 2-4 connects the beam body 2-3 and the elastic plate 2-5. Both ends of the elastic plate 2-5 extend out of the connecting block 2-4. Both ends of the elastic plate 2-5 are fixedly installed with guide blocks 2-6. The guide blocks 2-6 are provided with inwardly concave arc guide surfaces. The arc guide surface on the guide block 2-6 in the first elastomer is the first guide surface 2-1, and the arc guide surface on the guide block 2-6 in the second elastomer is the second guide surface 2-2. Both ends of the elastic plate 2-5 can be moved toward the beam body 2-3. The height of the connecting block 2-4 is the elastic margin of the elastic plate 2-5.

[0042] In order to ensure contact between two adjacent rollers 3, the elastic main beams have at least two. This embodiment is explained by taking two groups as an example. The two elastic main beams are evenly distributed along the circumferential direction of the baffle 1. Several rollers 3 are divided into two groups, and each group of rollers 3 is evenly distributed between the first guide surface 2-1 and the second guide surface 2-2 of the two adjacent elastic main beams.

[0043] In order to achieve full loading of the roller 3 between the first guide surface 2-1 and the second guide surface 2-2, the present invention also includes an outer crossbeam 4 and an inner crossbeam 5. The outer crossbeam 4 and the inner crossbeam 5 are both connected between the two baffles 1. The outer crossbeam 4 has several and is evenly distributed on the circumference of the baffle 1 between the first guide surface 2-1 and the second guide surface 2-2. An outer locking mouth 4-1 for limiting the roller 3 is formed between two adjacent outer crossbeams 4; the inner crossbeam 5 has several and is evenly distributed on the circumference of the baffle 1 between the first guide surface 2-1 and the second guide surface 2-2. The inner crossbeam 5 is located on the inner side of the outer crossbeam 4, and an inner locking mouth 5-1 for limiting the roller 3 is formed between two adjacent inner crossbeams 5; a first limiting pocket 6 for accommodating the roller 3 is formed between the first guide surface 2-1 and the adjacent outer crossbeam 4 or inner crossbeam 5, and a second limiting pocket 7 for accommodating the roller 3 is formed between the second guide surface 2-2 and the adjacent outer crossbeam 4 or inner crossbeam 5.

[0044] To ensure full loading of the rollers 3 between the first guide surface 2-1 and the second guide surface 2-2, the number of inner locking notches 5-1 on the retainer matches the number of rollers 3, with a one-to-one correspondence. The number of outer locking notches 4-1 on the retainer is half that of the inner locking notches 5-1. The outer locking notches 4-1 are used to position two rollers 3, while the inner locking notches 5-1, the first limiting pocket 6, and the second limiting pocket 7 are all used to position a single roller 3. Two baffles 1 axially secure the rollers 3, reducing axial forces during bearing operation. The outer locking notches 4-1 retain the rollers 3 on the outside, preventing them from falling out of the pockets. The inner locking notches 5-1 retain the rollers 3 on the inside, preventing them from falling out of the pockets. The outer locking notches 4-1 can simultaneously retain both rollers 3, meaning that both rollers 3 share one outer locking notch 4-1, facilitating the installation of the rollers 3 into the pockets.

[0045] The elastic self-locking full roller bearing of the present invention utilizes two baffles 1 to axially fix the rollers 3, thereby reducing the axial force during the operation of the bearing; an elastic main beam is connected between the two baffles 1, and a first elastic body and a second elastic body are fixedly installed at both ends of the elastic main beam, and rollers 3 are fully loaded between the first elastic body and the second elastic body. The circumferential gap of the rollers 3 is adjusted and limited by the elastic main beam, so that two adjacent rollers 3 are set in contact, which can prevent the gap between the two rollers 3 from being too large, resulting in the rollers 3 being skewed, and the bearing has strong stability; the rollers 3 fully loaded between the first elastomer and the second elastomer are standard rollers 3, and the inner ring and outer ring of the bearing are also standard parts. The size of the elastic main beam and the circumferential gap of the rollers 3 can be adjusted, and only the retaining frame needs to be processed separately, and the inner ring, outer ring and rollers 3 do not need to be processed separately. The processing process is simple and the processing cost is low; the first elastomer and the second elastomer both have elastic margins, and the circumferential gap of the rollers 3 has an adjustable margin, which expands the scope of application of the present invention, facilitates the installation of the rollers 3, and saves the overall assembly time of the present invention.

[0046] Example 2:

[0047] like Figure 6 As shown, the only difference between Example 2 and Example 1 is that the elastic main beam has a single roller 3 and multiple rollers 3 are evenly distributed on the circumference of the baffle 1 between the first guide surface 2-1 and the second guide surface 2-2.

[0048] Example 3:

[0049] like Figure 7 and Figure 8The illustrated embodiment 3 differs from embodiment 1 only in that, to ensure full loading of rollers 3 between the first guide surface 2-1 and the second guide surface 2-2, the number of outer locking openings 4-1 on the retainer matches and corresponds to the number of rollers 3. The number of inner locking openings 5-1 on the retainer is half the number of outer locking openings 4-1. The inner locking openings 5-1 are used to position two rollers 3, while the outer locking openings 4-1, first limiting pocket 6, and second limiting pocket 7 are all used to position a single roller 3. Two baffles 1 are used to axially secure the rollers 3, reducing axial forces during bearing operation. The outer locking openings 4-1 retain the rollers 3 on the outside, preventing them from falling out of the pockets, while the inner locking openings 5-1 retain the rollers 3 on the inside, preventing them from falling out of the pockets. The inner locking openings 5-1 can simultaneously position both rollers 3, meaning that both rollers 3 share a single inner locking opening 5-1, facilitating the installation of the rollers 3 into the pockets.

[0050] Example 4:

[0051] like Figure 9 and Figure 10 The only difference between the shown embodiment 4 and embodiment 1 is that: in order to achieve full loading of the rollers 3 between the first guide surface 2-1 and the second guide surface 2-2, each inner locking mouth 5-1 is used to limit at least two rollers 3, and there is at least one inner locking mouth 5-1 among all the inner locking mouths 5-1 with a number of rollers 3 that is ≥ three, wherein the inner locking mouth 5-1 with a number of rollers 3 that is ≥ three has an inner flange 8 for limiting its inner rollers 3, and the inner flange 8 is located on the baffle 1. The outer side of the roller 3 is limited by a single outer locking hole 4-1 corresponding to it to prevent it from falling off from the pocket; when an inner locking hole 5-1 limits two rollers 3 at the same time, the inner side of the roller 3 at this location is limited by the inner locking hole 5-1 to prevent it from falling off from the pocket; when an inner locking hole 5-1 limits three or more rollers 3 at the same time, the inner side of the roller 3 at this location is limited by the inner flange 8; this can prevent the roller 3 from falling off the retaining frame, thereby achieving full loading of the roller 3 between the first guide surface 2-1 and the second guide surface 2-2.

[0052] Example 5:

[0053] like Figure 11 and Figure 12The only difference between the shown embodiment 5 and embodiment 1 is that: in order to achieve full loading of the rollers 3 between the first guide surface 2-1 and the second guide surface 2-2, each external locking mouth 4-1 is used to limit at least two rollers 3, and there is at least one external locking mouth 4-1 among all the external locking mouths 4-1 with a number of rollers 3 that is ≥ three, wherein the external locking mouth 4-1 with a number of rollers 3 that is ≥ three has an external flange 9 for limiting its internal rollers 3, and the external flange 9 is located on the baffle 1. Two baffles 1 are used to axially fix the roller 3 to reduce the axial force during bearing operation; when an outer locking mouth 4-1 limits two rollers 3 at the same time, the outer side of the roller 3 inside the outer locking mouth 4-1 is limited by the outer locking mouth 4-1 to prevent it from falling out of the pocket; when an outer locking mouth 4-1 limits three or more rollers 3 at the same time, the outer side of the roller 3 inside the outer locking mouth 4-1 is limited by the outer flange 9; the inner side of the roller 3 is limited by a single inner locking mouth 5-1 corresponding to it to prevent it from falling out of the pocket; thereby achieving full installation of the roller 3 between the first guide surface 2-1 and the second guide surface 2-2.

[0054] Example 6:

[0055] like Figure 13 and Figure 14 Compared with Example 1, the only difference between the shown Example 6 and Example 1 is that: in order to achieve full loading of the roller 3 between the first guide surface 2-1 and the second guide surface 2-2, the present invention also includes an inner sleeve 10, the number of outer locking openings 4-1 on the retaining frame is consistent with the number of rollers 3 and corresponds one to one, the rollers 3 are correspondingly installed in the outer locking openings 4-1, and the outer side of the roller 3 protrudes from the outer side surface of the outer crossbeam 4 from the outer locking openings 4-1; the two baffles 1 are penetrated by inner ring holes, and the inner sleeves 10 are inserted into the inner ring holes of the baffles 1, and the rollers 3 are located between the inner sleeves 10 and the outer crossbeam 4, and the inner side of the roller 3 contacts the outer peripheral surface of the inner sleeve 10; the two baffles 1 are used to axially position the roller 3 to reduce the axial force during bearing operation, the outer side of the roller 3 is limited by the outer locking opening 4-1, and the inner side of the roller 3 is fixed by the inner sleeve 10, thereby achieving full loading of the roller 3 between the first guide surface 2-1 and the second guide surface 2-2.

[0056] Example 7:

[0057] like Figure 15 and Figure 16The illustrated embodiment 7 differs from embodiment 1 only in that, to ensure full installation of the rollers 3 between the first guide surface 2-1 and the second guide surface 2-2, the present invention further includes an outer sleeve 11. The number of inner locking openings 5-1 on the retaining frame matches and corresponds to the number of rollers 3. The rollers 3 are installed in the corresponding inner locking openings 5-1, with the inner sides of the rollers 3 protruding from the inner locking openings 5-1 and the inner side of the rollers 3 protruding from the inner side of the inner crossbeam 5. The outer sleeve is mounted on the outer circumference of the baffle 1, with the rollers 3 positioned between the outer sleeve and the inner crossbeam 5, with the outer sides of the rollers 3 contacting the inner circumference of the outer sleeve. The two baffles 1 are used to axially position the rollers 3, reducing axial forces during bearing operation. The outer sides of the rollers 3 are secured by the outer sleeve, while the inner sides of the rollers 3 are secured by the inner locking openings 5-1, thereby ensuring full installation of the rollers 3 between the first guide surface 2-1 and the second guide surface 2-2.

[0058] Example 8:

[0059] The present invention also provides a robot reducer having the elastic self-locking full complement roller bearing.

[0060] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. An elastic self-locking full complement roller bearing, comprising a retainer, wherein the retainer comprises two annular baffles (1), characterized in that: It also includes an elastic main beam, the elastic main beam including a beam body (2-3), the beam body (2-3) is connected between two baffles (1), a first elastic body and a second elastic body are fixedly mounted on both ends of the beam body (2-3), rollers (3) are fully installed between the first elastic body and the second elastic body, and the elastic main beam is used to adjust the circumferential gap between the rollers (3) so that two adjacent rollers (3) are in contact with each other; The first elastic body and the second elastic body both comprise a connecting block (2-4) and an elastic plate (2-5); the connecting block (2-4) connects the beam body (2-3) and the elastic plate (2-5); both ends of the elastic plate (2-5) extend out of the connecting block (2-4); and both ends of the elastic plate (2-5) are movable toward the beam body (2-3); Guide blocks (2-6) are fixedly mounted on both ends of the elastic plate (2-5); an inwardly concave arc guide surface is provided on the guide block (2-6); the arc guide surface on the guide block (2-6) in the first elastic body is a first guide surface (2-1), and the arc guide surface on the guide block (2-6) in the second elastic body is a second guide surface (2-2); It also includes an outer crossbeam (4) and an inner crossbeam (5), wherein the outer crossbeam (4) and the inner crossbeam (5) are both connected between the two baffles (1), the outer crossbeam (4) having a plurality of evenly distributed baffles (1) between the first guide surface (2-1) and the second guide surface (2-2), and an outer locking opening (4-1) for the limiting roller (3) is formed between two adjacent outer crossbeams (4); the inner crossbeam (5) having a plurality of evenly distributed baffles (1) between the first guide surface (2-1) and the second guide surface (2-2), the inner crossbeam (5) being located on the inner side of the outer crossbeam (4), and an inner locking opening (5-1) for the limiting roller (3) is formed between two adjacent inner crossbeams (5); The outer side of the roller (3) is limited by the outer locking opening (4-1), and the inner side of the roller (3) is limited by the inner locking opening (5-1).

2. The elastic self-locking full complement roller bearing according to claim 1, characterized in that: The elastic main beam has a single roller, and a plurality of rollers (3) are evenly distributed on the circumference of the baffle (1) between the first guide surface (2-1) and the second guide surface (2-2).

3. The elastic self-locking full complement roller bearing according to claim 1, characterized in that: There are at least two elastic main beams, and the at least two elastic main beams are evenly distributed along the circumferential direction of the baffle (1). The plurality of rollers (3) are divided into at least two groups, and each group of rollers (3) is evenly distributed between the first guide surface (2-1) and the second guide surface (2-2) of two adjacent elastic main beams.

4. The elastic self-locking full complement roller bearing according to claim 1, characterized in that: A first position-limiting pocket (6) for accommodating the roller (3) is formed between the first guide surface (2-1) and the adjacent outer crossbeam (4) or inner crossbeam (5), and a second position-limiting pocket (7) for accommodating the roller (3) is formed between the second guide surface (2-2) and the adjacent outer crossbeam (4) or inner crossbeam (5).

5. The elastic self-locking full complement roller bearing according to claim 4, characterized in that: The number of the inner locking openings (5-1) on the retaining frame is consistent with the number of the rollers (3) and corresponds one to one. The number of the outer locking openings (4-1) on the retaining frame is half the number of the inner locking openings (5-1). The outer locking openings (4-1) are used to limit the position of two rollers (3). The inner locking openings (5-1), the first limiting pocket (6) and the second limiting pocket (7) are all used to limit the position of a single roller (3).

6. The elastic self-locking full complement roller bearing according to claim 4, characterized in that: The number of the outer locking openings (4-1) on the retaining frame is consistent with the number of the rollers (3) and corresponds one to one. The number of the inner locking openings (5-1) on the retaining frame is half the number of the outer locking openings (4-1). The inner locking openings (5-1) are used to limit the position of two rollers (3). The outer locking openings (4-1), the first limiting pocket (6) and the second limiting pocket (7) are all used to limit the position of a single roller (3).

7. The elastic self-locking full complement roller bearing according to claim 4, characterized in that: Each inner locking opening (5-1) is used to limit at least two rollers (3), and among all the inner locking openings (5-1), there is at least one inner locking opening (5-1) with a number of rollers (3) greater than or equal to three. The inner locking opening (5-1) with a number of rollers (3) greater than or equal to three has an inner flange (8) for limiting its inner rollers (3), and the inner flange (8) is located on the baffle (1).

8. The elastic self-locking full complement roller bearing according to claim 4, characterized in that: Each outer locking opening (4-1) is used to limit at least two rollers (3), and among all the outer locking openings (4-1), there is at least one outer locking opening (4-1) with a number of rollers (3) greater than or equal to three. The outer locking opening (4-1) with a number of rollers (3) greater than or equal to three has an outer flange (9) for limiting its inner rollers (3), and the outer flange (9) is located on the baffle (1).

9. The elastic self-locking full complement roller bearing according to claim 4, characterized in that: It also includes an inner sleeve (10), the number of the outer locking openings (4-1) on the retaining frame is consistent with the number of the rollers (3) and corresponds one to one, the rollers (3) are correspondingly installed in the outer locking openings (4-1), and the outer sides of the rollers (3) protrude from the outer locking openings (4-1) to the outer side surface of the outer beam (4); the two baffles (1) are penetrated by inner ring holes, the inner sleeves (10) are inserted into the inner ring holes of the baffles (1), the rollers (3) are located between the inner sleeve (10) and the outer beam (4), and the inner sides of the rollers (3) are in contact with the outer peripheral surface of the inner sleeve (10).

10. The elastic self-locking full complement roller bearing according to claim 4, characterized in that: It also includes an outer sleeve (11), the number of inner locking openings (5-1) on the retaining frame is consistent with the number of rollers (3) and corresponds one to one, the rollers (3) are correspondingly installed in the inner locking openings (5-1), and the inner sides of the rollers (3) protrude from the inner locking openings (5-1) to the inner side surface of the inner crossbeam (5); the outer sleeve is arranged outside the outer peripheral surface of the baffle (1), and the rollers (3) are located between the outer sleeve and the inner crossbeam (5), and the outer sides of the rollers (3) are in contact with the inner peripheral surface of the outer sleeve.

11. A robot reducer, characterized in that: A self-locking elastic full complement roller bearing according to any one of claims 1 to 10.

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